I have conducted an experimented with principles
of Swarm Intelligence , on teams of ( simulated ) mobile robots .
The IBM Robocode simulator was used . Various observations were
made , for asynchronous teams of agents using Swarm Intelligence
. A slight modification of the definition of 'gbest' and 'pbest'
was used for implementation purposes , because in this case there
was no precise function of the form f ( x , y , z... ) to be
optimized . Rather , we had to analyse the kind of cooperation
which developed in the agents . In this case , the robotic agents
did not have to move towards an optimum of a certain function ,
rather , some ideas of swarms were used in determing , in which
direction they were to head at any particular intance .